{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import pandas\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>mag_x</th>\n",
       "      <th>mag_y</th>\n",
       "      <th>mag_z</th>\n",
       "      <th>acc_x</th>\n",
       "      <th>acc_y</th>\n",
       "      <th>acc_z</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>-1168</td>\n",
       "      <td>2031</td>\n",
       "      <td>876</td>\n",
       "      <td>1440</td>\n",
       "      <td>629</td>\n",
       "      <td>-14659</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>-1168</td>\n",
       "      <td>2031</td>\n",
       "      <td>876</td>\n",
       "      <td>1563</td>\n",
       "      <td>582</td>\n",
       "      <td>-14637</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>-1163</td>\n",
       "      <td>2033</td>\n",
       "      <td>865</td>\n",
       "      <td>1409</td>\n",
       "      <td>617</td>\n",
       "      <td>-14679</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>-1168</td>\n",
       "      <td>2037</td>\n",
       "      <td>871</td>\n",
       "      <td>1386</td>\n",
       "      <td>600</td>\n",
       "      <td>-14799</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>-1168</td>\n",
       "      <td>2037</td>\n",
       "      <td>871</td>\n",
       "      <td>1427</td>\n",
       "      <td>665</td>\n",
       "      <td>-14605</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   mag_x  mag_y  mag_z  acc_x  acc_y  acc_z\n",
       "0  -1168   2031    876   1440    629 -14659\n",
       "1  -1168   2031    876   1563    582 -14637\n",
       "2  -1163   2033    865   1409    617 -14679\n",
       "3  -1168   2037    871   1386    600 -14799\n",
       "4  -1168   2037    871   1427    665 -14605"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "level = pandas.read_csv('calibration_level.csv')\n",
    "level.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>mag_x</th>\n",
       "      <th>mag_y</th>\n",
       "      <th>mag_z</th>\n",
       "      <th>acc_x</th>\n",
       "      <th>acc_y</th>\n",
       "      <th>acc_z</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>-1621</td>\n",
       "      <td>1022</td>\n",
       "      <td>1268</td>\n",
       "      <td>2066</td>\n",
       "      <td>6875</td>\n",
       "      <td>-13281</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>-1621</td>\n",
       "      <td>1022</td>\n",
       "      <td>1268</td>\n",
       "      <td>1996</td>\n",
       "      <td>6899</td>\n",
       "      <td>-13217</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>-1623</td>\n",
       "      <td>1048</td>\n",
       "      <td>1272</td>\n",
       "      <td>1912</td>\n",
       "      <td>6748</td>\n",
       "      <td>-13086</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>-1604</td>\n",
       "      <td>1127</td>\n",
       "      <td>1257</td>\n",
       "      <td>2088</td>\n",
       "      <td>6105</td>\n",
       "      <td>-13354</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>-1604</td>\n",
       "      <td>1127</td>\n",
       "      <td>1257</td>\n",
       "      <td>2017</td>\n",
       "      <td>5797</td>\n",
       "      <td>-13446</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   mag_x  mag_y  mag_z  acc_x  acc_y  acc_z\n",
       "0  -1621   1022   1268   2066   6875 -13281\n",
       "1  -1621   1022   1268   1996   6899 -13217\n",
       "2  -1623   1048   1272   1912   6748 -13086\n",
       "3  -1604   1127   1257   2088   6105 -13354\n",
       "4  -1604   1127   1257   2017   5797 -13446"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "roll = pandas.read_csv('calibration_roll.csv')\n",
    "roll.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.axes._subplots.AxesSubplot at 0x7f4b8f9ee2b0>"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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AJyL9I8mtcj+PIKsyi9f2vNanheKOzBo9i51H+ld4SErJxBcn8uy2Z1kYsVDz8RNCE/jT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\ngeM4ToPjDYHjOE6D8z++D1OysiZCwwAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f4b8fa54828>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax = level.mag_x.plot()\n",
    "level.mag_y.plot(ax=ax)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.axes._subplots.AxesSubplot at 0x7f4b8f55ca90>"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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FMLGHrZhUxd4+Cjd00YNaMfycmk1/ibowsacFUJOI/ROfoDU++4GDp0BU7b76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G9i5fQcXh5+GR/Y9QHfB9Kpd/dCyC2wU7BS8e5CqjCvKGY+GHs6lkapWsKx4jHHVsxO2wR4MPb6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\nDOyhQoUKtcT0/wEqoTN6K+ABtgAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f4b8f564b70>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "level['pitch'] = np.degrees(np.arctan2(level.acc_x, np.sqrt(level.acc_x**2 + level.acc_z**2)))\n",
    "level['roll'] = np.degrees(np.arctan2(-level.acc_y, -level.acc_z))\n",
    "level.pitch.plot()\n",
    "level.roll.plot()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.axes._subplots.AxesSubplot at 0x7f4b8f3c0f60>"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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J6iOlsJsZmuGRwEewJWyLJO0J1IOkwk5Ep4no4fuP44loJBH5E9HjRFQtZV8C3aCj+euN\nGe02GqcSTklgkaAxUgo7wLOYwrPCJWtPID1i5qmgQ9zLuwcFKXAp5VKHVuRpzCOBj2B/9H5Uy8X1\nX2qSi5IlFXYncydklIpQjC4jhF3QISb9OgnbI7Zj7929mO0/u9Ptucpc4W/rL7x2iamWVyO7NBtO\n5k6Stelk7iRi7DqOEHaByuSX5yO5KBn/OPIPuFi4wMfGR5J2Hwl4RNSNkZiMkgzYm9mrVHWzLYSw\n6z5C2AUqE5EdgcFOgyFXyPGXvn+RrN3R7qPFwhsSk1KUAneZu6RtOpg5ILs0G4ra+YcCXUMU5hKo\nTFhmGIY6D8XX079GX/u+krU72HkwwrPCUS2vltTD7MlIPXAKAIb6hpAZyZBblgt7M3tJ2xZIg/DY\nBSoTlhWG/g79McZjDKxNrCVr19zQHB6WHojMjmz7YEG7UIewAyIco+sIYReoTHhWOAY4DlBL20Od\nh+J6+nW1tN0TEcLeMxHCLlAJBSlqPXZ1MNR5KK6nCWGXipRiIew9ESHsApWIyIqArYktHMwc1NJ+\nkGMQIrIj1NJ2T0R47D0TIewClTideBoTPCeorX13S3exaLJEKEiB6NxoeFt5S962EHbdRgi7QCVO\nJ57GBC/1CburhStSilLEoskScD3tOhzMHOAqc5W8bSdzJ6SXpEverkAahLAL2g0R4XSCej12M0Mz\nmPQyQW55rtr66CkcjDmIGb4z1NK2m8wNyUXJamlb0HmEsAvapEZRg5yyHByNPQoHMwd4WnmqtT83\nmRtSilLU2kdP4EDMAczwU4+we1p6IrEgUS1tCzqPmKAkaJPNtzdj+bHlsDe1xwcTP1B7f0ph70yN\n956MskZ+UmESxniMUUsfbjI3ZJRkiMlkOooQdkGb3Mq8hQEOA2BuaI5H+zyq9v7cZe7CY+8gF5Iv\n4OEtD8Pd0h3vT3gfhvqGaunHQN8AjuaOSC1OhZeVl1r6EHQcEYoRtEl4VjiWj16OvfP3Qo+p/ysj\nQjEd527OXbhbusPH2gfPDnlWrX15WXmJcIyOIoRd0CbhWeFqm5DUHELYO05yUTJm+M7Ajnk71B4i\n8bT0RGKhEHZdRAi7oFVyy3JRUlUieYXA1hDC3nGSC5PhbqmZz8rT0hMJBQka6UugGkLYBa0SkR2B\n/g79wRjTWJ8elh5CMDpIclEyPCw9NNKXp5XIjNFVhLALWiUsMwz97PtptE8fGx+kl6SjtKpUo/12\nB5IKkzR2d+Vl5SVCMTqKEHZBq1xKvYQRriM02mcvvV7oY9cHYVlhGu23q0NESC7SXCjGXeYuJinp\nKELYBa1yNvEsxnmO03i/Ax0HIjQjVOP9dmUKKwsBAJZGlhrpz8XCBenFoqyALiKEXdAiyYXJKK0u\nRYBtgMb7Hug0ELcybmm8365MciGPr2tqPERmJEONogYlVSUa6U/Qfjot7IwxN8bYScZYJGMsjDH2\n2v3t1oyxo4yxu4yxI4wxzbgRAsk4m3QWYz3GanTgVMkgp0EIzRQeuyokFyVrNHuJMSa8dh1FCo+9\nBsAyIuoLYBSAVxhjgQDeBnCciAIAnATwjgR9CTTI5ZTLGO02Wit9BzkGITI7Enui9mil/65IWnEa\nXCxcNNqns4Uz0orTNNqnoG06LexElEFEofcflwC4A8ANwBwAv94/7FcAj3S2L4FmySjN0NhAXGOs\njK1wYMEBLN69WAhHOymoKIC1sXRr0LYHFwsXUb5XB5E0xs4Y8wIwCMAlAI5ElAlw8QcgljPvYuSV\n58HGxEZr/Y/1GAt/W38kFSZpzYauRGFFIayMrTTap7O58Nh1EcmKgDHGzAHsALCUiEoYY+1eKWHl\nypW1j4ODgxEcHCyVWYJOoG1hB7hHKISjfRRUFMDf1l+jfYrPR3OEhIQgJCSkXcdKIuyMsV7gov4b\nESmDopmMMUciymSMOQHIaun8+sKuaQ7fOwyZkQyj3UejsqYSqcWp6G3dW2v26BJC2LsWBZUFsDTW\nbI6Cs7kzbmWK7CVN0NjpXbVqVYvHShWK+QlAJBF9WW/bXgBP3X+8GIBOjoK9c+IdTPt9GpYdWYZh\nG4dh+MbhKKgo0LZZOoEQ9q5FQUWBxkMx9T+f1WdXI6csR6P9C5pHinTHMQAWApjEGLvJGLvBGJsG\nYC2AKYyxuwAeBLCms31JTWpRKpIKk3D6qdNwMHPAe+Pfw5yAOVh3fp22TdM61fJqlFaVQmYk06od\nQtjbj7aEPb04HVE5UXj35LuIyIrQaP+C5ul0KIaIzgPQb2H3g51tX50ciDmAab7TMNh5MAY7DwYA\njHQbiaANQfhg4gfopddz1yFRioQm6q+3hhD29qMNYXe3dEd2WTae3ctrv4u1anWDHj3zdF/0Psz0\nm9lgm4elB1xlrj161uNnFz5DQkGC1sMwgBB2VdCGsJsbmuPIoiMoqy7DdN/pIhSjI/RYYc8vz8eZ\nxDOY5T+ryb7xHuNxJvGMFqzSHsWVxXjj6BsAgC8uf4FjcceEsHcxtJHuCADDXIbhxgs3EOQYhNwy\n4bHrAj1W2Hfe2Ykpvac0G0Me7zkeZ5J6lrBfSrmE765/BwAoqizCpZRLOiHstia2KK0uRXl1ubZN\n0WlqFDUorS6FuaG51mywNbEVHruO0COFvUpehZ9u/oT5/ec3u3+c5zicTTwLBSk0bJn2uJp2FcVV\nxahR1KC4shiXUy/rhLDX1iMRsxtbpaiyCDIjmVbHROxM7USMXUfoccIelhmG4F+CYW9mj9kBs5s9\nxk3mBhMDE8Tnx2vYOu1xJfUKAF5vhEDIKs2CrYmtlq3iuFq4IrlQ1P1uDW3E1xtjayo8dnXz/fdA\nejt8nB4l7FE5UQj+NRgLByzErsd3wVDfsMVjBzsNxs2Mmxq0TnsQES6nXoaRvlEDAdUFjx0A/Gz9\ncC/vnrbN0Gl0QdiFx65eysqAf/4TOHGi7WN7lLD/EvoLnhn8DF4Z8Uqbt6xDnIfgZnr3FvbdUbtx\n+N5hpBanQq6Qw8/WD0mFSfC28gagQ8Ju44fo3Ghtm6HT6IqwC49dfRw8yMU9PLztY3uMsMsVcvx+\n+3csHri4Xcd3d4/9YvJFzN85H59f/Byn4k9hrMdYWBpZIqkwCY7mjnCXueuMsPvb+iM6Twh7c2y+\nvRnZpdk6Iey2JrYiK0aNbN8OzJghhL2WnLIcLN69GO6W7ujn0L6FmQc7d29h//Tip/ho4ke4mHIR\n2yK3YZb/LFgac2GXGckw2Hmw1kr2Nsbf1l947M1QWVOJlw++jGNxx1BYUaixJfFawsrYCkWVRahR\n1GjVDl1BoQBOnpSmrfx84OhR4N//7ubCvmIFcOxY28fJFXLM2z4PpgamOLLoSLvbd5e5o1pe3W1X\nh7mdeRvT/aZjkNMgHIg+gJl+M2FpZInkomRYGlli9+O7Md5zvLbNBAD42vgiLj8OcoVc26ZohOzS\n7CbbbqbfxPaI7Q22nYw/iaLKIoRnheuEx66vpw8rYyvkl+dr1Q5dYc8e4MEHefikvZw7B6SmNt3+\n88/AzJnA8OFAdjZQVNR6O11W2M+fBy5fbvu4b69+CwUpsGHmBpXqnjDGMNp9NM4mne2ElbpJaVUp\nUotS4W/rj6k+UzHcdTgczR1hZWyF5KJkyIxkWlkOryVMDUxhb2rfI+qyF1QUwPtL7yZe71vH38Kz\n+55FXnle7bZdUbswym0UwrPCkVqcCntT7S950NE4OxFw6JAaDNISRMBHHwG9egF377b/vHfeAX76\nqWlbGzYAr7wC6OsDffoAkZGtt9Nlhf22/bs4m9q2y/5H+B9YMW4F9PVaKmfTMg/2fhDH446rfF5S\nEvDccyqfpjEisiMQYBeAXnq98OKwF7Fx9kYAqI2xa/uWvjk6E45J60ITV6Nzo1FaXYrMkszabeFZ\n4QjLCsOcgDn4/OLnAPid6J67e/Dv8f9GeFY4TsSfwASvCdoyu5aOpjwmJvL4cVWVGozSAqGhQGEh\n8PDDQFRU+86prgauXQPql1wnAsLCeFjngQf4tsGD23ZqdULYifjfmTNASTsWPCcCCo0iEFcY0+px\nGSUZiMqJ6vAXfrL35A4J+/nzwA8/tC/fVNMsPbQUu+7sQpBjEADuYSkfWxpbIq88T+sVHZtjqPNQ\nXEi+oPJ5VVWAlxcQ0UWKDiovXslFdWmnm29vxtODnsYrw1/BoXvcrb2QfAHO5s6Y4jMF6SXpSChI\nwANuD7TZvlze9m18c5w7B2RktH2cnakdssuahpLa4ub94az29KEplh1Zhip5x640YWHAiBFA377A\nnTvNH5OYCLzxRsNzHB2BK1eAykpg504gOBg4cgSYOhVQ3kTPmcP3tYZOCHtAADBtGrBgAdC7N3D1\natNjEhKAhQuB8nKgoABQ6Jcgq6j1uun77u7DVJ+preart0Zf+74orylHbF6sSueFhfEPYd++DnWr\nNvYdkGPDtQ1Yc34NBjgMaLJf6anXF/aEhPZ7HOpkht8M7I/Zr/J56encE/rsMzUYpQZicrmzklKU\nUrstKjcKg5wGwc/WD7F5sSAi7IrahbmBc9FLrxcC7QIx2Xtyu6qRbtwIDBvWfNw3Kgp49llg9Ghg\nzBhg3jwgOpq/h7Nm8RDA+fOtt+9m4YbUomaCxG2gFHZdubvKKcvBfy/9F1E5HfvyR0ZyUe/Tp07Y\nT5/md/NKXn8d+PTTulDNpUvA5MlAYCBw8SLwr39xz/+LL7iwK5kyhWtMa+iEsP/+O//ixMQA69cD\n8+cD69YB+/cDBw4As2fzK9elS3x/aipgJCtGaU0hKiqabzOrNAtrz6/FggELOmwXYwzTfadj7929\nDbYT8Te8JcLC+I9i9+4Ody058fHAwwtTYCS3xTiPcRjrMbbJMbL7wn7pjGWtV7d6Nf+xa4vbt/n7\nPdp9NOLy41QezE5NBfz9gV27gNwukIkXlh4NlNsgNrtO2GNyY+Bn61e7UHVeeR4X9j5zAQDjPMbh\n0T6PNtvenTvAjh11Qn7qFFBaCixbBsTGAgMH1gnL888DNjb8t7d2LR+oGzMGWLwYeOopYPly3lZ9\nSkt5xoYSD0uPDo2F3LwJGBnpzl2uUtDDMttQ0BaIjAT69eMirXSMXnmFO6cKBQ+5XL0KvPgi1z+A\n69sDD3AtnDMHsLPjcfqsLGDixLq2jYz4Ma1CRFr94yY05KOPiF56icjLi8jRkejXX4kOHSK6c4fI\nzo5oxw4i0zf7kGzh8xQZ2eR0UiiIRq2fTq/tebfpzvvU1BDNmUP0n//w41viyL0j1P/L4ZSWVrft\n7FkePHrhBaLXXiNKTia6do3om2+IYmOJPD35c1tboujohu399hvR3//eep/qYONGomF/PU6Gz0+g\nkJC67TU1RKWlRKdPEzlP2E9YCdLrv50OHeL7AwKITEyIbt/WrL1ERGlpRPr6RFev8uePb3+cvrz0\npUptbN9O9OijRCNHEp0/rwYjJcbvP0MJ8x6lR/+3jIiI5Ao5GX9kTMWVxURENOS7IbQ1bCs5fepE\nija+RCUlRFZWRAMHEv3jH/w75+xMdP060dChRJaWRNOm8f3h4UT29kSVlQ3buHCBqE8f/h2/coWo\nb1++vaaG6N13+XfDwoLo3//m7f9x+w+at32eyq/b1ZXbsn49b1sb5OURhYbyxxuvbySsBL159E36\n5JO672B9kpP576K5j6F3b6KoKP7bMjYmSkggsrEhGjWK69l//0v08sv8s3BwIHr4YSIXF6LERCK5\nnCgpiX9+JSVEf/7ZtP2ICKL72tmsruqEx96YFSuAb7/lXvHNm8CTT/JQTWAg0L8/sHUrAMMSmNoU\nILZRlIQImDUvF5fSzuPXp/+F1av5tsasXw9kZgKbN3OPROn5p6Twq2pcHH9eHjkJESmJmDr/Hm7d\nAs6eBTZt4t6Lvj5PPZo3D5g+nQ96TJ/Otw0axG+13n67Yb+HD/M+f/lF4jetDY4fB/qOu4dx/Xzx\nyis8PAHwsQAvL/4el+Rwj11RZombN3m8MzOTv9ZVq4AaDaUn19TwW/7ffuPezenTfPvbY9/GR2c+\nwqn4U+1uKy0NcHEB3N2BZB0uNxORFYGndj+FpNIY9EqehIgU7rGnFqXC2ti6tmqjj7UPtoRvwUjX\nkW1mLu2xhwpNAAAgAElEQVTdC4wcydOCf/8d+L//A/T0+ODbyZPAV1/x2YyDBnHP/IknAMNGUctR\no7j36eYGDBnCvxO3b/NBwfPneaju7l2ejhcerrrHXlLCf4slJTwElJbGvdMtW1R6+zpEZmbD52+8\nwcMchYXA1YQ7QPJoXIwLw6efAp980vDYEye4Fk2fDjz6KH8v45LLsPzocnxx/lukpQE+PoCpKX+/\nn3+epz4+8wzPR799GwgK4vt+/BGYO5ffXXl48M/I3R0wM+N/8+Y1tb1v39Zfm04KuxJLS8DZueG2\n4GAeu1bol8DQohAxMfwLNWIEF//ffwfCKvdjzoAHEXHLBNu38wyVr77iX5iiIi7aH37IBfrcOT5Q\nMWECb+e55/gt+7BhvK9XX+mFRf2fRuqwZxA8rQCPPcYvLEuXAt98w9swMeHC9+ef/AfQty8X/X/8\ng99ynTtXZ/+1azxm9p//aO59VCj4F9HENRaTBvvA3JwLPcDDXQsXAi+8APx9Ps+D9veS4eZNLqjj\nxvEvfHExvwB4efHbb3Xy3XfA2LH8PX311TphH+Q0CN/N+g5vHn+z3W2lptYJe1IzekOkG2MIV1Kv\n4Ndbv4LkvTB1UBBS7g+exuTxMIwSH2sfHLp3CCNdR9Zue/99HjppzObN/LO1t+fiuWAB/zwZA2Qy\nfjFnjAvL0qXAkiWt26ivz8VpxAjuZB07Bjg48N/otGk8zONh6YGYzCR88QUXyLZYtoyHyX75hX9O\niYl88PCNN+q+Z2fPNv/6Okp0NP+dOzvXZZfExPDQaXAw8N6qapyNjAIi/orryWGwtOTfwf+e/A1r\nz61FaSkPT27ZAty7x8Mn584BI9/5N3aFH8APF7fBz4+nOgLA559zMX/oIX6hvXyZh2uDgvj7P2sW\nD3XJpMxZaMmV19QfmgnFtEZICA+D6K80IL91I2n0aKJnniF64w2i55/n+0b+dw79dus3IiIqLiaa\nNYvIz49o0SKiYcOIhgzhIRglCgXRJ5/wEMpDDxFVVRFlZPBboPx8ohp5DT296zn669b5dOkS0YoV\nLdsXG0t04EDd899+Ixoxgt9eFRQQmZnx2117e6K4OJVeusps2kT03HNEe/bw2+25W+fStvBt9PLL\nRF9+SVRRwW+jc3L48aeuJxFWgj779Q75+RE9+STR55/zfdXV/Db1kUeIvviC6MwZotRU6Wx9/nn+\nGb31FpGTE9HJk7yftDQia2v+/hHxz8L1M1cKywxrV7uLFtXd+r76at32O3eIfvqJh/X09IguXZLu\ntXSED0I+oCUHlpDLxD2090w8sWXuVFBA9L+r/6Nn9jxDRPx7+dRXPESw9fIJIuLfXQ8PInd3ouHD\niX7+mbdXUsK/a0VFdX1culQXaugoWVlEmZlNt2/ezL8b1fJqYu8Z0NgJlRQQQJSS0nJb587xEExB\nAX9+8CD/7Pv0IfrrX4k+/ZSHMu3teQhWivBlfDwPQb37LtHTT/OwLxH/Tb/xBtHR8Guk94YzsTec\n6KnlUYR3zOnZV/Po5ZeJgj9YQfO2z6OjR4nGjm3YrkJB5P6vYHKYtIX0Vsjoq6/lDfZv2nRfS2r4\nb87IqOFn05g/w/+kD09/2OprQSuhmC4n7OXlREamlYSVoICvA8jNjX+B09L4F//lb7eQy2culF+e\nX3uOQsHFtKaG6I8/uGCoGscrqigiu3V2FJUdpdJ5cjlRv35cCE+eJBozhm9/8kkeT1QXubk8dufh\nwYXx0CGiAd8OoOtp1+mzz/jYwPHjRA88UHdOYUUhYSUoMS+VTE35GEFeXsN2r1whMjTk4x9WVkSH\nD/Mf382b7bMrO5tozZqG25Q/8LNnid55h2jVqob7AwK4CB8/ThQTQ/TO8Xfo9SOvt6u/iROJjh3j\nAj5nTt32jz8mYozHnJ99lseONRnb3buXaMYMokGDiLZsIXpu73P08ZENZGpKVFpRSew9Azp9toZe\nP/I6rT67moj4d9djwgnC+4ysnQopPZ07Ek5ORIWF3IkICODtnznDHQpNobwA371LpPe6O8Vkx9Pa\ntdy2LVuaP+eRR4j+97+656GhXJEWLCC6eJHIx4do6lQu8B4ePGbdWTZuJJo/nz/et49o8mT+eOZM\nop07iX679RsZf2hC7D0DKiiqJv0n5tEj3yynnTuJPF56icb8OIa++ILHxxtjv86eUotSyesLr1Z1\nIjiYx+BbQq6QU+D6QApcH9jqa2lN2HU6FNMcxsbA0y/yZPfCykIsWcJvA52dgYSiGPxZvASHFh5q\nML2aMR471NfnGTdLl/LHqmBhZIElw5fgi0tfqHSenh6378wZPgo+bBjfPnMmz/hRld27+W1jfZqL\nfa9dy2N/27fzW+6pUwmx+bHwsfaBry+/hTx+nMcUlZgbmsNAzwC2ZpYYMAB47TXA2rphu8OH81ht\nZCQPKX39NfDyy8C777bP/l9+4eMOO3bwUEtODj//s894+OWTT4D33mt4zubNPC3sn//koQR55MP4\n9XQIZs3i8X95K5UGlDF2D4+GMfbwcH77O2UKr3FdU9O+GhxSkJ3NP5O//Y2HUZYvBy6Ep+CTt93w\n+uuAqZEhzOWe+PrKF9gavhXjPMYB4Lfwi6cNxDNDnsb8R2X46iseK580id/GL1jAw4jKcMaIEZp5\nPQD//bm783iwg5EH0kqT8OabfFr9iy82nXiUksLDGwsWNGwD4LH8kSP5a4qN5eG4sWObT7Vcvx74\n4IP223nqFH+/AP5dunSJj6/dusXHGuLz4/HqyCUIefo4LC16YcvCb3G1YivM/K8ivSAPqUWpuHOn\naYw7uzQbVfIqOJs7Y5jLMFxPv96iDSNH8jBMSxyNPQpDfUOkF6cjqzSr/S+uPi0pvqb+oKLHTkSU\nWJBItmttyfgjY1IoiLIKC+j3W7/TzM0zac3ZNW030EEuJF2gYd8PU/m83bu55zF6NPfUiLhHbWHB\n7ySefZY/37ePj563hELBw0WffFK3LSyMezNlZXXbysv57WtMTN22tKI0sl9nT0Q8AyIggGjCBO5x\n10fpaaSk8Dug1lBmXTg58ddSVsa3vfkmv82squIe0Y4ddfb370+0bBn3zPr14x7zpEntv83+/Xei\nWfNyyGSVJe3apaARI+rCD/Hx/K6ouLjueAsLfqufns5v55UMGMAzEpQ8+yzR11+3zwZVuXaNvw9f\n3k/o+fe/eehJyaxZRHqvDKBdF+riJK+vDSOT9xxo7bm1tdseeIDo1Cn+ODaWZ1kMHEj0ww91bc2f\nz73SefP47b8myczkn+30H+bXhkKJeCbIsWP8cWUlzxRZuJBnvtVHLifq1YvoBI8y0blzdSGyb77h\noZPGPPYYzzpRZq3J5U2PIeLv2+uv8+/bvXt120eO5HcUFhb83Kd3P03fXfuuwbmL/m8R/Rr6K5m+\n8BAZfGBIY8cpam28nXGbpv42lb698i2N/nE0ERGtPrua/nn4ny2+T7GxRJcvN79PoVDQ6B9H02+3\nfqPpv0+nnZE7W2wH3SkUQ0QUnhlOgesDyeADA6qorqDvrn1HLp+50NDvhlJ5dbnK7bWX3LJcsvjE\nos00s8bk5PAvn6NjQ7EcNIjo22/5p/D55zx0ohSpEyeIFi9u2M6lS/zYJ56o2/bxx3zbTz/Vbfv9\ndz5WUJ+ziWfpgR943KWsjMf4zM2bhlpUZcUKou++4yGmI0d4eMnSkv9gHnuMx80HDeLCffkyvzDJ\n5VxUq6uJli5V/RZboVCQ5WpLyinNoXPn+IUtPZ23PXQoF+3MTH5xMTXlfcvl/DWnpvKLj7Fxw4vh\npk08rqsO3nyTx/qdnIiOHuUXmPppsPHxRLKPrSmnNKd226FDRBMfrMs9rKzkr6X+RevwYaK1a7lT\noOSXX/iFUqrQRUdYeWolvXH0jdrnH3/MQ39VVUT+/nxMY+5cHnNuzAsv8LBSY0JDiQKbiUz06cMv\nmkuXEt24wb8D9d8jIv75Dx9O5O3NxyLq/3zXr+fblDHzib9MpKP3jjY4f9nhZfSf8/8hu3eHEVaC\nbNyyKD2dj/fYrLWh6b9PJ4tPLOi5vc8REdHJuJM0YuMIUigUdCXlSnveslr23d1H/b7pRzXyGlp9\ndjUtPbS0xWO1KuwApgGIAhAN4K1m9qv0womILiVfouHfDye7dXaUWZJJ87bPo19u/qJyOx3B4T8O\nlFqk+qhhv37cm6nPP//JPeugIJ4PDBB99hnfN28ekYFBwy/5smU837VPn7ptY8fyH03v3twL2rKF\nx6uPNvxu0s83f6ZF/7eo9rmra8N2OsuHH3Ih792bx3c3bCB67z0+2BYYyD2uvn3rLlydZeh3Q+ly\nCnd7XnuNSCbjFzyFgudsP/kkzzGuLwa9e/M48IMPcoGpT3w8v/A2d82Wy6lB7n97yM2ti9kPGsS9\nz//8h3+m7zaaXlFSWUImH5k0cBiSkviFIC+Pf5YbN/ILVluUlPDviI1Ny96rurmUfIn6fdOv9vmt\nW1w8P/uMX3Sqq1Vvs6qKX4xLS+u2VVbW5YgrP1crKx6TT0jg/SoU3OHo25cLflijMfeiIu6tv/IK\nf+79hTdF5zScfLLm7Bp64+gb5Lzah9gKUzL3u0EKBVFEVgT5fOlDuWW5ZPaxGX1x8QsiIqqoriCL\nTyzocMxhwkrQ+aT2T6D4y7a/0M83fyYioqupV8n3K98WHUmtCTt4OuU9AJ4ADACEAghsdEy7X7SS\n47HHaeIvE8n3K1+6k32H7NbZUVJBksrtdIRxP42jE3EnVD7vxAlqMMmJiGerAPyL5+7Ob6tXrOBf\nNpmMD34pwxhERL6+3OtVept5efxLWVrKRePLL7lX0tyg7IoTK2jlqZW1zydMaP7WtqOkpxM99RT3\nTBt/D8+c4YOYS5dKNzHr8e2P0+bbm4mIt/nrr3XZGteucRHcsoVPTlLy179yUbWwaLhd2Ubv3nxg\nt7EgXrvGB4zbK0g5OURubnxgMDOT38FUVXHRXbaMZyPVJyo7ivy+8mtij0zGL8ATJvBMrsYXhJZQ\nKKTNWFKVGnkN2a+zp4T8hFp73nyTf9dPqP7TqSUoqOFEoYiIugv08uX8DvT0af5Z2dvzv19+4Z/1\nxo0tt7tuHf8NVsuryfBDQ6qobvgB/XTjJ1q8azFZr7Emy+XDKfDhfUREtCl0U+1krD9u/1H7eomI\nZmyeQb2/7E1BG4Jo0P8G0YKdCyitqJEANMPIjSNrLwQKhYL6ftOXTiecbvbY1oS97eISnWMEgBgi\nSgQAxthWAHPue/AdpqSqBBZGFrAytsKZxDOwNrbW2KIQgXaBiMqJwiTvSSqdN6mZw8eP5wNFwcF8\nwsJvv/Gc6gMH+L6pU3nO/mOP8RzsggI++OrnxwcvDxzgx5ia8gE4gA94KonOjUZ0bjRm+c9CbH4s\nZvrNrN03ZgyfTi4VTk58kkpzjBsn3YIDSnysfWrXQWWMD0Yq6dOHDzDfusWndSvZto3/d3Pj07Lr\nwxjPy54zB/D2bjgp5PRpPviXkAD4+rZt26uv8ungu3bxz2bCBMDAgP81V7MmpSgFbjK3JvbMmMHn\nXjz/fNt9Nj7XxUW1c6REX08f03yn4WDMQbw0/CUwxgfzn3+eT9rpKEFBPP9bmYAQEVE3iPmvf/GE\nhPHjeZJCnz789/HBB3wA9scfW25XWYgrsSAVDmYOMOrV8MvhYOaAjJIMFFUW4S9D+sNtCK+Fcz39\nOoY5c2PmD5jf4JypPlNxMOYgIl+OxPor67E/Zj+ic6PhbOGMG+k3kFKUgocDHkZpVSme3fcsfp7z\nM4x7GSO1OBWuFq4AeEmTZwc/ix9v/qjy2gjqzopxBVB/vl/K/W2doqSqBOaG5rAytsK2iG2Y0ntK\n2ydJRKBdIO7mqFBguRWsrIDr13nGjpUVYGsL5OXxjJWgID4b7fBh4K23+ASjSZN4ls3AgbyGxPr1\nPDOlJfbe3Yvn9z2Pank17uXdg69NnSp9/HHzM9q6Cr42vojNb744m6kpF+89exoKu5KXXgKefrrp\n9t69+T5lXfDSUl5jJSSEf0bKiUxffdVyje2yMj7j88AB4MIFPhGurRLOyUXJTYQd4BNgVBV1XeGR\nwEewNWJrg22dEXUAGDCAO0BKlIW2AD6ZMTiYPw4K4hfRmTN59s3kyfz31RYJBQnwsvJqst3BzAEx\neTGwMLJAoLMHTJ3qhH2oy9Bm25obOBcvDn0Rfez74JuZ3yDIMQhFlbwA0647u7Dp1iYAwOF7h7E1\nfCs2394MuUKOzJJMOFvUzcpcMGAB9kTtUXmRGXV77M3NeW4ywX/lypW1j4ODgxGs/IRaoKSqBOYG\n5qgyrsLOyJ14c0z7ZyJ2lkC7QByJbf9KTKpgbc2FPTOTe+WurtxDmT4d+PVXnh4I8Fmi+/dzL921\nlctkXH4cMkoysCtqF2LzeKpjd8HHxgc/3Pyhxf39+/PU0LamXjdm6lQuxmvWcG/PyYl/Jo89xqd8\nDx3KPTwjI16VtDHnz/MLr4sL9x7Ly7nANMfV1KvwsvLCnew7CLBtprEuzGz/2Xj5wMuIyolCoF2g\nJG0GBfEZnACfMXzwYOtptgYGvIhdnz7taz+xMBGelp5NtjuYOSA+Px5eVl5wtXDFqtOrsC1iG5IK\nkzDEeUizbblbumPDrA21z2VGslphj86LRkJBAgBg552d+Evfv+DzS59jmu802JjYNKhG62juCFeZ\nK0IzQlEcXYyQ+sXaW0Hdwp4CwKPeczcATQpz1hf29qD02OUkh8xIhmCv4M7YqBIBtgEdLuXZFjY2\nvFJeRgbP2wX4dPCtW/m0ZWXO+dixdftbI74gHk8PfhpLDi6BnOSwM7VTi93awNfGtzYU0xz9+/Mw\nlr+/au36+PD6HGvX8qnnP/zA8/aDg3ke+fr13Hu/10LXJ07wafcA9+xNTOrqaDfmzeNvYrb/bNzK\nvIVXhr+imqE6joG+AZ4a9BQ2Xt+Iz6ZKUzNZ6bET8TBXZSWv/NoazzzT/vbTitPgYtE0hmVvZg8C\nwcbEBhO9JyK5KBmTvSfjdubtdi9HKDOsJ+y50UguTEZlTSUO3TuEO6/cwegfR+NY3DG4ypp6ahM8\nJ+B04mksC17WwOldpfT0mkHdoZirAHwZY56MMUMATwDY28Y5bVJcVVwbipnlP6vD9dY7gpeVF7JK\ns1BWrcJChu3ExqbOY3d0rNvu68vFvndv1dqLz4/HslHLcHLxSex+fLdOLXfXWZzNnVFSVYLiyuJm\n9/fvz+96GsfS28OLLwJffsnDOStXckEPDOShle+/5/Hce/f4hWP8eD5pa/x4XpPn+HF+6w/wz6tx\nrSMlRISwzDBcSL6AW5m3MNBJwgEPHeHpwU9jc9hmyRa3dnHhtWmOHOGe+po1PDQpFS0Ju6mBKcwN\nzWFjYgNfG198MPEDTPCagFdHvtrutpUeOxEhJjcGRZVFCEkIga+NL5zMnTDSbST23N3TbEhOKeyq\noFZhJyI5gCUAjgKIALCViFpYT6T9KD32F4a+gFXBLV+11IG+nj58bXw7vExba7Qk7EBdQaH2oiAF\nEgsT4WXlhf4O/THRe2LbJ3UhGGPobd27xTj7tGnAf//bsbaXL284GGtiwm/no6L4bNGpU7mwb9vG\nKxJ+8QWvTrhsGZ9J+0DbCxkhqzQLRZVFOBZ3DBU1FXCXaWbwX5P42/rDw9IDJ+JOSNIeY7yw3qJF\n/IJZf/EJKUgvSW9W2AEejrE2sW52X3tQCntacRrMDc3hY+ODXVG7MNSZx+iHOg/F0dijtQOn9Zng\nNQFnE882iLMfiml9gVi1lxQgosNEFEBEfkS0Roo2lcLuZ+sHHxvNx41bC8dU1FQ0WP1GFaysePXJ\n9PSmwq4q6cXpsDK2gqmBaeca0mF8bXxbXN3K0pKLu1TY2fHqh//+Nw/XxMXxVW4WLeIZRm+/zb38\nr79uWvq2OSKyIzDSbSRMDUwR5BjUre6m6rMoaBF+D/u99vkHpz9QebGU+ixcyMei1q5tOcTVUVry\n2AEu7DbGNh1uWyns0bnR8Lf1h6elJ3ZH7cZgp8EAuLCXVZc167E7mTvBwcwBYVl80Y+wzDAs3r24\n1f66XK0YoE7YtYUyMyavPA9/2faXBvWnd0buxIv7X+xQu/r6gLk5r13RuEaLqsQXxMPbyrtzjeg4\nvtatx9mlhDEu2tbWgIUF/8vOrhucfewxnoXTVsxXSXhWOAY4DMBo99EIcmilcEgXZ7b/7Ab183+/\n/XunxqhMTPjYhzrq4LQp7CadFPaqOmH3svJCZmlm7eCr8n9zHjtwPxyTcBpV8irM3zkfnz70aav9\nqXvwVC3ogrBvi9iGKb9NQVpxGnZG7sQ/R/0TAHAv7x5Si1Vf81GJjQ0X9856I/H58fC27t7C7mPj\ng+tpLRdbUie+vjytUhnj1dfni0+0l4isCAQ5BuHJgU/CpJeJeozUATytPJFXnlf7m80tz0VBRetr\nFbeFOm5uiAjpxelwNm9+UMTBVAJhryxCbH4sfG18QUTQZ/oY4MjXHrY0toSfjV+zHjvAwzE7Ineg\ntLoUnlae+FvQ37AYLXvtwmPvAAG2AdgXvQ/9Hfrju1nfYV903arVsfmxyCjp+FLrNjadD8MA93Ny\nLb0635AO01ouu7rx82tfLL0lbmfdRn+H/njA7YFuOXCqRI/pwc/WD9G50ZAr5Mgvz0dhZTtW4NAw\neeV5MDEwgYlB8xfZf43/FxYPaj380RpKYVfG8b2svNDHvg+MexnXHrNz3s4WJyJN8JyAw/cOY/2V\n9fhmxjdthu66pMdeWFkImZGUy42oRj+Hfnhx6Iu1aVyL/m8RCioKYGVshbj8OGSVZkGukENfT8Xa\nwODCrupAaXNklmZ2u9zoxtSffappPvqIe+wdoby6HGGZYRjmMkxao3QU5ZiUp6UnCISCigJEZkfC\nSN9IK2NkzdFaGAbgdx6dwcLIAkWVRWBgcDJ3wlDnobA3s29wjNJ7bw5XmSv+0vcv+McD/2h2ElVj\nuqTHnl6cDidzJ631b2pgig2zNsDUwBSmBqYY7zkeh+8dBsA9dj2m1+E6ytbWfFJMZ8kpy+lWeevN\n4WHpgV56vfDfix1Mf+kErq4dHwe5nHoZ/R36w8zQTFqjdJQA2wDczbmLnLIcAEBBRQG+vfotvr/+\nvZYtq6MtYe8sSo89oyQDTuZOsDW1xYO9H1SpjU1zN7U4IaoxXUbYFaTAhqsboCAFskqztCrsjZnl\nPwv7ovehrLoM+eX56GPXp8PhGKlCMdll2U08gu6Gvp4+Qp4KwQ83f8DDWx5GYYXu3eI3x+mE05jg\nOUHbZmiMQLtA3M29i9zyXABAYUUhcspyEJMXg/j8eGy8vlGr9hEREgsTNSbsLcXxpaTLCHtacRpe\nPvgy4vPjITOSNSnUo01m+c/C4XuHEZ0bzacdy1yRXtKxlK4ZM/iit52lJ3jsAPfabzx/AzWKGmyL\n2KZtc9rFmaQzKhd16soE2PFQTG4ZF/aCygJkl2UjOjcaB2IO4P2Q95WVXmvZeH0jIrIi1G5bZU0l\npm2ehmVHltUW9FIHMiMZ8srzUFRZBFtTW7X1o6TLCHtcfhwA4ELyBbVeWTuCm8wNnpae2Hh9I3xs\nfOBk7oSkwiR8dfkrlduaPZtX9Oss2aXZsDft3h67EqNeRnii/xNqq+EjJXKFHJdTLmOMxxhtm6Ix\n/G39EZMXg5yyHJgbmqOgogA5ZTm4l3cPN9JvIL0kHXdy7uB/1/4HAEguTMaSQ0uw926nJ6m3yRvH\n3oCFoQUK3y5UaSapqpgZmKFaXg17M3voMfXLbpcT9ospFxtUP9MV3hzzJrZFbkMfuz5wNnfGjsgd\n+Mfhf6BKXtX2yRJDRD3GY1fykM9DOBF/osH09cKKQry0/yUtWtWU6NxoOJo7trvGSHdAZiSDpZEl\nQjNC0du6d20ohkA4EHMAAbYBeOXgK3jpwEuolldj9bnVcLVwRVSuemoy1edq2lW8Pur1DiU6qAJj\nDDIjmcZCyF1O2C8kX9BIjEpVnuj/BNKWpWH15NVwNnfGyfiTIBBSizqe095RiiqLYNzLWKfCVerG\nydwJnpaeuJxyuXbbvbx7+P7G96ioqdCiZQ25mXGzdrZhTyLQLhDnk8/Dx9oH+RX5yCnLwRDnIcgp\ny8GrI15FSEIIAJ52eD75PJaPXo472Z2uPtImmnSAhLDXo7y6HJHZkYjLj8MAhwEIywrTuVCMEgN9\nAxjoG8DJ3AkEgsxIhsTCRI3b0dO8dSXTfKc1CMdklmZCQQq11PXpKDfTe6awB9gGIDQjFD7WPkgu\nTIahviEGOAyAv60/Huv7GF4Y+gICbAOQW56L7NJsjPMYh6icqCaxd6nJKcvRSMwbuC/sZkLYAQC7\no3Zj9pbZiMuPwyTvSVCQQic99vo4WzjD2tga032nNyg3oCl6QkZMc0z1mdpA2JWZSZrw/NrLzYyb\nGOzcA4XdLgByksPHxge55bmwM7VDoF0ghjgPgZO5E/4363+wNbVFblkucspy4G/rDxMDE6QVN6ny\nLRk1ihqUVJVoLCwmPPZ6hGeFIy4/DldSr2CyN6+Hqosx9vqMcB2BvfP3ord1byQWJCKpMEntnkd9\neqrHPsZjDO5k30FiQSKySrOQUZIBPaaHyOzI2mP23t2LsMwwrdhXo6hBaEZoj/TYlYtt9Lbmtaft\nTe3xwtAX8MXUuiXAbE1sEV8QXxtG7GPXR21rHwA87GNtbK2RwUxACHsDIrIj0M++H3rp9cJo99EA\noLOhGCWG+oYY6zEWnpaeSCxMxKgfR+FUwqm2T5SInpQRUx9DfUMEewVjwIYBWHJwCTJLMjHMZRgi\nc+qE/efQn3Es7pjGbcsvz8fA/w3EKPdROu+YqAPlLGhHM0eYGZjBztQOZoZmDe4sbU1tEZUTVeuU\nBNoF4k6O+u62NBmGAYDBToNbnV0qJTov7OFZ4fhk8ieY4jMFNiY2sDK2arECmq7hYemBI7FHkFac\nhodvFQoAABfPSURBVPNJ5zXWb0/12AFg+ejleG3ka7ibexcZpRmY6DWxQSgmtSi1dgakJgnNCIW1\nsTX2PqH+FD5dxMPSAya9TGBvZg9LY8tmQ4W2Jra4m3u3dp+3lTcSC9Q3RpVblqvR38nqB1drbLU3\nnRb2suoypBanYobfDOybvw+MMVx//nqn6zZoCk8rT6QUpcBd5o4LKRc01m92Wc/02AFgvOd4vDXm\nLcTkxiC9OB3jPccjLj+udqWllKIUZJdma9yupMIk9Lbu3W3rrreFvp4+rj9/HS4WLrAytoKdSVNB\ntTVp6LG7ylw7VSm1LXLKcmBrojmPXZPotLDfyb4Df1t/9NKrq4qljNF1BZSr4rw77l1cSrkEBSnU\n3ueOyB3YeWcn3C2734o87cXCyAJWxlYIzQiFl5UXZvjNwKZbm1Atr0ZGSQayy7iwK0ihsXTUpMIk\neFh6tH1gN6aPPV9V2srYqllP2dbUFvfy7tXuc7FwUevgaXe+s9VpYQ/LCkM/+37aNqPDWBhZYKbf\nTDzR/wnYm9o3GMRTB3KFHC/ufxHrHlyHx/s9rta+dB1/W38UVxXDydwJr454Feuvrkd6SToIVCvs\n55PO45E/H9GIPULY67A0ajkUUyWvqr3bdLVQr8euzM7pjui0sB+PO97la2rsX7AfVsZWGO46HDfS\nb6i1r8upl+Fi4YLH+j6m9pl0uo6/rT8M9AxgbWyN8Z7jIVfIsT96P2RGstoYe3pJulpjuPVJKhLC\nrmTBgAUY6zG2yXalyDb22NWVUSZCMVqgRlGDQ/cOYZb/LG2bIgn+Nv6IyY1Rax/77u7DbP92rs3W\nzfGz8YOTuRMYY2CMYbzneOyI3IGBjgNrY+xZpVnILsvWyMxU4bHXsShoUW36Y32UGSpKj93CyAL6\nTB/X0q5h7bm1ktshQjFa4GLyRXhYerS4VFRXw8/WD9F56pkBSURYFbIKP4f+3G0uhJ3F39YfjuZ1\n9Y9HuY3C6cTTGOAwAEWVRaiWV9fWzFd3nJ2IkFSYVDvmImgepfdcX2xdZa747vp32B65XfL+unMo\nRmdXUDp07xBm+XUfkfKz8VObx15aXYrV51Zj7/y9GOU+Si19dDWm+k5tMIA8yn0UFKSAh6UHbExs\nkFeeV+u5Jxclq3Uln7zyPBjqG8LCyEJtfXQHaj32evF3FwsX7I7arZZFSTSdx65JdNZjv5Ryqdk4\nXFfFz9YPMXkxaokX5pfnw87UDg/5SFDIvZtg3Mu4wWozgXaBfA6EzBV2pnbILstGVlkWjHsZI7kw\nWa22JBclizBMOzDUN4S5oXlDj93CtbZ+jNSIUEwLMMbWMcbuMMZCGWM7GWOyevveYYzF3N+vkuLI\nFXJcS7vWrdaEtDK2gnEvY2SWZkretnK9VUHL6DE9PBn0JAY5DYK9mT2yS7ORXZqNgY4DkVKUota+\nI7Mju1SarjZZPXl1gzU9XSxcYG9qDwKhrLpM0r5yy3LF4GkLHAXQj4gGAYgB8A4AMMb6ApgHoA+A\n6QC+ZSrMzLibexcOZg7d7jbJz8ZPLZUG8yvyYW3SwQU4exBfTv8S/R36w97UHjllOcgqzcIQ5yFI\nLlKvx74tYhvmBMxRax/dhSUjlsBQ37D2uZvMDaPdR/O7LAm99hpFDYoqi7qtQ9QpYSei40S1s24u\nAVCOdD4MYCsR1RBRArjoj2hvu1dTr2K46/DOmKaT+Nv6q0fYy/NhbSyEvb3UhmLuC7s6Pfb88nyc\nSjiFuYFz1dZHd+bJgU9i/Yz1sDe1r51/IAV55XmwNrHutmnBUsbYnwZw8P5jVwD13aDU+9vaxZXU\nKxjh0u7rQJdhgMMA3Mq4JXm7IhSjGg5mDkgpSkFxVTEGOg5Uq8e+5+4ePNj7QVgaW6qtj+6MzEgG\nN5kb7M3sJa3x053DMEA7smIYY8cAONbfBIAArCCiffePWQGgmoi21DumMS2OGq5cubL2cXBwMK6k\nXcGCAQvaNL6rMcJ1BLZFSr/gcn6F8NhVYYTrCCw/uhw2JjbwsfFBbF4s5Aq5Wry3a2nXMNa9+yQB\naAupQzFdceA0JCQEISEh7Tq2TWEnoimt7WeMLQYwA8CkeptTANRP2nUD0GLRh/rCXllTiYjzEd1y\nMYIhzkMQlhmGyppKSZetyy/PFx67CkzynoTEwkT42vjCxsQGLhYuCM8Kx0CngZL3FZ4VLuLrEiB1\nKKYrCntwcDCCg4Nrn69atarFYzubFTMNwJsAHiaiynq79gJ4gjFmyBjzBuAL4Ep72ryVeQv+tv4w\nNTDtjGk6iZmhGfxs/XA787ak7RZUFIjBUxUwNTDFJO9JtTMcx3qMxdmks5L3Q0QIzwpHf4f+krfd\n07AztZM2FFPevUMxnY2xfw3AHMAxxtgNxti3AEBEkQC2AYgEj7u/TO1M4L6SegUjXLtffF3JCJcR\nuJLarmtcuxGhGNWZGzi3Nrd8rMdYnEs6J3kfmaWZIJDGVs3pztib2vf4UIwqdDYrxo+IPIloyP2/\nl+vtW01EvkTUh4iOtrfNK6lXMNyl+2XEKJkTOAdrzq+RtNJjfoUIxajK04OfxvezvwcAjPMYh7NJ\nZyWfPBaeFY4BDgN6bA12KbE3E6EYVdCpmaeFFYU4GnsUE7wmaNsUtTHLfxbeGP0Glh1ZJlmbIhSj\nOnpMrzZfurd1b7jL3PHZxc8k7UOEYaRDLaGYbjZPpj46JeyfnP0EM/xmwN/WX9umqJUZfjMkzWcX\neeydgzGGbX/dhnXn10n2ueyM3ImPz34sirJJhBg8VQ2dEfbKmkpsuLYBH036SNumqB1PS0+kFqei\nSl4lSXsij73zeFh6YF6/edgZuVOS9tZdWIdf5vyCab7TJGmvp2NtYo2CigLJ2uvOtdgBHRL2iykX\nEWgXCBcLF22bonYM9A3gJnNDQkGCJO2JkgLS8EjgI9h9d3en21GQAhFZEd2qiJ22sTSylFTYNb2Q\ntabRGWE/GX8Sk70na9sMjeFjzSfGdJYqeRWq5FUwM5C+rGlPY4LnBNzLu9fp+uxx+XGwNbUVs00l\nxLiXMQBItiiKCMVoiBPxJzC5d88Rdl8bX9zLu9fpdpRhGJF50XkM9A0w1WcqDt071Kl2wjLDEOQY\nJJFVAoCPg0jltUdmR8LEwKRb3+XqhLAvO7IMkdmRGOM+RtumaAwfax/E5nfeY88oyaidaPP/7d1/\nUJXXmcDx76MGUBCQHwKBGFABUVS4G40TkwzV1U1Sq8l2mtGmxiSbTNJk27SZZNukdaL1n2wnP2Y7\nu2bTxTrVZpNt19nobv0RGzRWjQkKihpENCCKovwQo4IocvaP+2IAQS7ce3kv730+M8xcDu+993nm\nvT6e99z3nKO8NzttNp9UfOLVa5ScLWHy6Mk+iki1iw6L5sKVC16/zqqiVSyZuoQhEhDlzy8CIrOI\nkAj2/MMeht823O5QBoyveuxldWXd7h+p+mf22NkUVBR4dU/7wXPaY/eHqLAoLrR4V9ivXr/KHw7+\ngadyn/JRVIEpIAr7r771KzLjMu0OY0BlxWdRXFNM241Vj/untK5UC7sPpUanEhESwaFzh/r1/Na2\nVnad3OXoSXZ2iQ6L9nooZn/NfhIjEhkfM95HUQWmgCjswSgjNoPY4bHsOLHDq9c5UneErLgsH0Wl\nAPLuzOv32jGbj20mLTrNr3uoBquo0Civh2L2nt4bFP/pamG30eIpi1l7YK1Xr6E9dt/Lis/q98bj\nq/ev5smcJ30ckQLf3PJYeLpQC7vyr+9P/j7rStf1ezimzbRxtP5o0A1j+Vt6jHvj8b662HKRj49/\nzKOTHvVDVCo6LLrTGPuxhmN9LvRO20u5J1rYbZQcmUx4SDhVF6r69fyqC1WMChtFZGhk7wcrj/X3\ni+2CigJmpMzQ+9f9JCqs81DMTzb/hA8OfnCLZ3R2+epljjccD4r1e7Sw2yx7dDaHzx3u03PON59n\n98nd/KLgF9ydcrefIgte42LGUdlYSWtba5+et+nYJh4c/6CfolJdvzwtOlPUp/1q953ZR/bobJ9u\nchOotLDbbFL8pD7fgfHrXb9m0bpFRIZEsubhNX6KLHiFDQtjdPhoqi5UcenqJY+eY4xhY/lGHkp/\nyM/RBa+o0G9ud6y5VMOZS2eovuj5LOFtFdvIS83zU3SBRQu7zSbFT+Jwbd967LVNtSy9fynvznuX\n8BBdSsAf0mPTWfLREr73p+95dPzpi6dpud5CZqx+3+Ev7T32/KJ8dpzYQcjQkD4V9oLKAmalzer9\nQAfQwm6z7NHZfS7sDc0NxAyP8VNECmD8qPF8Uf0FO6t20nytudPfdp/czfnm853aKhsrGTdqnC7t\n4EdRYVGcuHCCZ//vWV7c/CKz0mZx+mKPWyl3cvnqZfad3sd9Y+7zc5SBQQu7zSbGT+RI3RGut133\n+Dla2P1v9tjZrPjWCqYmTL3pnval25ay9autndoqGitIjU4dwAiDT3RYNCVnS5gYP5GG5gbmpc/z\neMG23Sd3k5uUGzRXuMPsDiDYjQwdydhRY9lZtdPjnaPqm+u1sPtZ+y2LV1qvsLJwJXtP7+W1+14D\n3CsDdt1/s7KxUgu7n0WFuu82WjhpIdOTpzMjZQavbH2Fy1cv91qwD9ceJjcxdyDCDAjaYw8Az7ie\n4d2973p8fENzg6M3CQgk8zPnU1pXyvJPl99YMra+qf6m3Xy0sPtf+2Yyeal5zBk3h5GhI7l95O0e\njbNXnA+uKyot7AHg8amPs/nYZs5dPufR8ToUM3ByEnMo+8cyUqNTOd5wHGNMtz32isYK0qLTbIoy\nOESGRnL/nfczLfmbmaPJkckeDcdUXqgMqvOjhT0ARIdFMyttFp981ftysU3XmgCCaiXMQJAZm8nR\n+qM0XWui5XoL55o6/yesPXb/GzpkKJ8+8emNTcgBkkcme9RjD7bzo4U9QMy8YyY7q3b2epz21u2R\nEZvB0fqj1DfXA3TqsV9vu86pr08xJmqMXeEFreSRyZxoPHHLY4wxOhTTHyLysoi0iUhMh7bfiEi5\niOwXkRxfvI+TzRwzk10nd/V6nI6v2yMjNoOy+jLqmuoIGRrSaYy9+mI1cSPigmJGY6BZMGEB+cX5\ntLS29HjM+SvnEZGg2vDd68IuIinA3wInOrQ9CIwzxqQDzwL/7u37OJ0rycWxhmO9LkuqPXZ7tA/F\n1DfVkx6T3qnHXlpbSkZsho3RBa97x9zLhLgJrCpe1eMxlY3u8fVgmmPgix77O8ArXdoWAGsAjDGf\nA1EikuCD93KskKEh3HX7Xbz88cu3/DKovklvdbRD+1BMXVMdmXGZNDQ33FiVM1iWgg1Uz9/1POvL\n1vf492AbXwcvC7uIfAc4aYw52OVPycDJDr9XW23qFvLn5/P11a9ZsWNFj8doj90eiRGJXL1+lbL6\nMhLDE4kMjaShuQEInqVgA1VuUi7FZ4q73c7w1b+8ygsbXwiqO2LAgwlKIrIV6NjbFsAAvwReA+Z0\n97Ru2nrcRHLZsmU3Hufl5ZGXl9dbWI40PmY8y/OWM2ftHIwx3V466hi7PUQEV5KLLce3MGfsHOLD\n46m9XEvciDgKTxfyzt+9Y3eIQSt5ZDJtpo2aSzUkjUzi7KWzJEQkcKX1Cr8t+i1rH1mLK8lld5he\n2759O9u3b/fo2F4LuzGmu8KNiGQDqcABcVegFKBIRKYDp4A7OhyeAvS4qEPHwh7sMmMzCR0aSsnZ\nEqYmTr3p7/XN9VrYbTLt9mm8+dmbLMpeRPyIeGqbaom6GEVLa0vQXeoHEhEhJzGHXSd38f7B91l/\nZD3rHl1Ha1srriSXY1bc7NrpXb58eY/H9ntJAWPMISCx/XcRqQBcxpjzIrIBeAH4LxGZATQaY872\n972CiYjw7fRvs6FsQ7eFvaG5gfSYdBsiU9OSp9Fm2ogdHkt8eDybyjdRcq6Ee+64J6i+mAtEOYk5\n/HTLT3Elufjrk39l/ofzGSJDeHvu23aHZgtf3sdusIZgjDEbgQoROQa8Bzzvw/dxvKdyn2Ll3pVc\nbLnYqd0Yw2enPmNi/ESbIgtu7ePocSPiSAhPIL84n3np81jziK6Jb7ecxBxqLtXw1ty3mDlmJod+\neIiCxwv4wZQf2B2aLaS7LxwGNAARY3cMgWjx/yxm3KhxLMtbdqOt6EwR3/3jdzn+4+MMEZ1bNtCM\nMSS8mcCmxzaREpnCsCHDiB2hw2KBoPFKI9sqtvFI1iN2hzJgRARjTLeXilrYA1RhdSFP/+/THHju\nwI22l7a8RPht4ayY1fNdM8q/CqsLcSW5GDpkqN2hqCB3q8Ku3b4ANSVhCuX15TdWFGxta+WDQx+w\neOpimyMLbtOSp2lRVwFPC3uACh0WSmZcJtsqtpH1b1msLl7NmKgxOsNRKdUrLewBLDcxl6XbllL9\ndTXP/fk5Fk/R3rpSqnda2AOYK8nFvjP7eG/eezw2+TEWZi+0OySl1CCgW+MFMFeSi4iQCB6e8DCL\nJi+yOxyl1CChd8UEsDbTRmltKZNGT7I7FKVUgNHbHZVSymH0dkellAoiWtiVUsphtLArpZTDaGFX\nSimH0cKulFIOo4VdKaUcRgu7Uko5jBZ2pZRyGC3sSinlMFrYlVLKYbSwK6WUw2hhV0oph9HCrpRS\nDqOFXSmlHMbrwi4iPxKRIyJyUETe6ND+qoiUi0ipiMz19n2UUkp5xqvCLiJ5wHeAbGPMZOBNqz0L\neBTIAh4EVopIt+sGB4Pt27fbHYJfaX6Dn9NzdHp+XXnbY/8h8IYxphXAGFNntS8APjTGtBpjKoFy\nYLqX7zVoOf1DpfkNfk7P0en5deVtYc8A7heRPSKyTUT+xmpPBk52OK7aalNKKeVnvW5mLSJbgYSO\nTYABfmk9P9oYM0NEpgF/AsZax3Sl+98ppdQA8GrPUxHZiHsoZof1ezkwA3gGwBjzhtW+GXjdGPN5\nN6+hBV8ppfqhpz1Pe+2x9+IjYDawQ0QygBBjTL2IbADeF5G3cQ/BjAe+6EtgSiml+sfbwr4a+J2I\nHARagMcBjDFfisgfgS+Ba8DzxptLA6WUUh7zaihGKaVU4LF15qmIPGBNbjoqIj+zMxZfEZFKETkg\nIsUi8oXVNkpEPhaRMhHZIiJRdsfZFyKySkTOikhJh7YecxKR31iT0/aLSI49UXuuh/xeF5FTIlJk\n/TzQ4W+DavKdiKSISIGIfGlNJPyx1e6Ic9hNfj+y2h1zDvvMGGPLD+7/VI4BdwK3AfuBCXbF48O8\nvgJGdWn7Z+CfrMc/w/2Fs+2x9iGne4EcoKS3nHBPSPuz9fhuYI/d8fczv9eBl7o5Ngsoxj2MmWp9\nhsXuHHrJLxHIsR5HAGXABKecw1vk55hz2NcfO3vs04FyY8wJY8w14EPcE5sGO+HmK6EFwO+tx78H\nHh7QiLxkjNkJnO/S3DWnBR3a11jP+xyIEpEEAlgP+UH3t+0Ousl3xpgaY8x+6/EloBRIwSHnsIf8\n2ufNOOIc9pWdhb3rJKZTOGMSkwG2iEihiDxttSUYY86C+0MIxNsWne+M7pLTaKvdSZPTXrCGIvI7\nDFMM6vxEJBX31ckebv5cDvpz2CG/9lurHXcOPWFnYXfqJKZ7jDF3AQ/h/lDdhzPy8pRTzutKYJwx\nJgeoAd6y2gdtfiISAfw38KLVs+0p7kGZYzf5Oe4cesrOwn4KGNPh9xTgtE2x+IzV88EYU4v7Pv/p\nwNn2S1kRSQTO2Rehz/SU0yngjg7HDcrzaoypNdaALPAffHOpPijzE5FhuIveWmPMeqvZMeewu/yc\ndg77ws7CXgiMF5E7RSQEWAhssDEer4nICKvXgIiEA3OBg7jzesI6bAmwvtsXCGxC555Ox5ye4Juc\nNmDNZxCRGUBj++V+gOuUn1Xo2v09cMh6vAFYKCIhIpLGLSbfBZjfAV8aY/6lQ5uTzuFN+TnwHHrO\n5m+zH8D9DXY58HO7v0n2QT5puO/uKcZd0H9utccAf7Fy3Yp7fR3b4+1DXv+Ju0fTAlQBTwKjesoJ\n+FfcdxocAFx2x9/P/NYAJdb5/Aj3eHT78a9a+ZUCc+2O34P8ZgLXO3w2i6x/ez1+LgfTObxFfo45\nh3390QlKSinlMLo1nlJKOYwWdqWUchgt7Eop5TBa2JVSymG0sCullMNoYVdKKYfRwq6UUg6jhV0p\npRzm/wELXvMNH6SNJgAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f4b8f3d0a58>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "roll['pitch'] = np.degrees(np.arctan2(roll.acc_x, np.sqrt(roll.acc_x**2 + roll.acc_z**2)))\n",
    "roll['roll'] = np.degrees(np.arctan2(-roll.acc_y, -roll.acc_z))\n",
    "roll.pitch.plot(legend=True)\n",
    "roll.roll.plot(legend=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.axes._subplots.AxesSubplot at 0x7f4b8f570128>"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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NHq33KF43vOKCwN6n9zJ/33y+3v81yx5dRqcanXLl+wmRm6REIPIVrTXnbp7D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\nktRxvwARd5MY1bSmqwAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f4b8f6276d8>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax = roll.plot('roll', 'mag_x')\n",
    "roll.plot('roll', 'mag_y', ax=ax)\n",
    "roll.plot('roll', 'mag_z', ax=ax, xlim=(-90, 90))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "-1442.0 3044 445.5 3333\n"
     ]
    }
   ],
   "source": [
    "offset_x = (level.mag_x.max() + level.mag_x.min())/2\n",
    "offset_y = (level.mag_y.max() + level.mag_y.min())/2\n",
    "range_x = level.mag_x.max() - level.mag_x.min()\n",
    "range_y = level.mag_y.max() - level.mag_y.min()\n",
    "print(offset_x, range_x, offset_y, range_y)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "y_flat = roll[(-3 < roll.roll) & (roll.roll < +3)]['mag_y'].mean()\n",
    "\n",
    "# Adjust X and Y fields by calibration already got (dance calibration)\n",
    "MagX = (roll.mag_x - offset_x) / range_x\n",
    "MagY = (roll.mag_y - offset_y) / range_y\n",
    "MagY_flat = (y_flat - offset_y) / range_y\n",
    "raw_z = roll.mag_z\n",
    "\n",
    "# Convert pitch and roll to radians for trig functions\n",
    "roll_r = np.radians(roll.roll)\n",
    "pitch_r = np.radians(roll.pitch)\n",
    "\n",
    "def mag_y_comp_residuals(p):\n",
    "    MagY_comp = (MagX * np.sin(roll_r) * np.sin(pitch_r)) +\\\n",
    "     (MagY * np.cos(roll_r)) - (((raw_z - p[0]) / p[1])* np.sin(roll_r) * np.cos(pitch_r)) \n",
    "    return MagY_comp - MagY_flat"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-1016.28084089,  3032.72620884])"
      ]
     },
     "execution_count": 31,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from scipy.optimize import leastsq\n",
    "res, ier = leastsq(mag_y_comp_residuals, (1, 1))\n",
    "assert 1 <= ier <= 4\n",
    "res"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "MagZ = (raw_z - res[0]) / res[1]\n",
    "\n",
    "MagY_comp = (MagX * np.sin(roll_r) * np.sin(pitch_r)) +\\\n",
    "    (MagY * np.cos(roll_r)) - (MagZ * np.sin(roll_r) * np.cos(pitch_r))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x7f4b89e95da0>"
      ]
     },
     "execution_count": 35,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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OOZErNhbmzDHPvb3N6mGvvGJeV6liZhJv2mTuJIRzy3azj1KqK/CI1rq/5XUf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\navsdq3bk116/Sv59IYTdyWIuOWD6tum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      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f4b89f1f860>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(roll.roll, MagZ, label='Z')\n",
    "plt.plot(roll.roll, MagZ * np.sin(roll_r) * np.cos(pitch_r), label='Z adjust')\n",
    "plt.xlabel('Roll (degrees)')\n",
    "plt.legend()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.legend.Legend at 0x7f4b89e8cba8>"
      ]
     },
     "execution_count": 36,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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cq0sWdxmZHGD2bLhzRxosTUyU/OtRUTBnjpRO4EN6LIQU8/7zz5kLe1QUFC78hKpVwdMT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\nMDIg5twNwzAyIObcDcMwMiD/D4ZT47gZFwiUAAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f4b8f6c4f28>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(roll.roll, MagY, label='Uncalibrated')\n",
    "plt.plot(roll.roll, MagY_comp, label='Calibrated')\n",
    "plt.xlabel('Roll (degrees)')\n",
    "plt.legend()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.5.1"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 1
}
